REU Planning Report
PROJECT #4 – EMULATING HUMAN REASONING
AC: Dr. Kelly Cohen
SAC: Dr. Jeff Kastner
GRA: Mr. Wei Wei
Team Members:
Adam Katterheinrich
Nicholas Nielsen
Tyler Parcell
I.
Introduction
The main purpose of this REU research project is to enhance decision making of a controller system to
account for various dynamic changes in an environment, similar to that of a human. More specifically, it will allow
the controller system to emulate human reasoning, which plays toward the NAE Grand Challenge of Reverse
Engineering the Brain. This will be accomplished through the use and development of a fuzzy logic based controller
to effectively guide and stabilize a multi-rotor craft, particularly for use in a firefighting type situation. This would
allow for a high level of controllability with minimal effort on the part of the controller, due to the inherit autonomy
gained. The particular advantage of using a fuzzy system is that it streamlines the design process by simplifying ifthen rules for action-reaction scenarios to a more general field, almost abstracting the controller from the craft.
II.
Objective Goals
In order to accomplish the autonomous flight and stabilization of the craft within the small, eight week time frame
for the research, multiple goals must be laid out and met. These goals are listed here:
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Learn Fuzzy Logic (MATLAB Fuzzy Logic Toolbox)
Model and control an inverted pendulum
Use the pendulum controller to develop a fuzzy logic controller for a multi-rotor
Learn how to effectively compile a technical paper, poster and presentation
Develop team collaboration
Learn the basics behind technical research
III.
Tasks
In order to meet the goals above, we will complete a variety of tasks, focusing on simulation, to develop our
understanding of MATLAB’s Fuzzy Logic Toolbox on an inverted pendulum. From there, we will take the model for
the inverted pendulum and use it as a baseline for the stabilization of the multi-rotor aircraft. This will be done using
a 3-dimensional model with MATLAB’s Simulink software. From there, analysis on the overall stability of the aircraft
can be observed, and many dynamical situations can be tested. This will provide insight into the stability and reliability
of the fuzzy controller we develop. If time permits, we will also finish off by assisting in assembling a hex-rotor
aircraft, as well as do real-world flight tests using our fuzzy logic controller.
IV.
Time Schedule
During the first and second days of the REU, we adopted the following timeline in order to effectively meet our
goals for the research. Specifically, this was planned as an 8-week, tentative schedule, as opposed to a meeting-bymeeting basis, and is as follows:
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Week 1: Fuzzy logic crash course using MATLAB, flight training
Week 2: Literature and math review, building pendulum model, flight training
Week 3: Developing pendulum controller model
Week 4: Developing multi -rotor controller model
Week 5: Developing multi -rotor controller model
Week 6: Simulated testing
Week 7: Testing and Final report preparation
Week 8: Final Presentation, poster and technical paper
V.
Conclusion
Throughout the eight week research period, we hope to gain valuable skills in effective teamwork,
communication, and collaboration. We also hope to be provided a great insight into the fundamentals behind a
research project beyond the classroom, as well as have a working knowledge of fuzzy systems and their potentials for
the engineering field as a whole. Engineering is about making a positive difference in society through the application
of science and technology, and we hope to do exactly that.